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Drawing from the characteristics of centipedes, such as their low center of gravity, high stability in movement, adaptability to complex terrains, and ability to continue moving even after losing a limb, this paper designs a self-reconfigurable centipede-type rescue robot with relatively high stability while moving. The robot's body can lift and traverse higher obstacles, and its multi-segmented structure enables self-disconnection and reconstruction for docking. Moreover, the proposed robot is adept at navigating diverse terrains and surmounting obstacles, equipped with a camera sensor facilitating life recognition, terrain surveying, scene understanding, and obstacle avoidance. Its capabilities prove advantageous for achieving challenging ground rescue missions. Motion stability tests, conducted across various terrains, showcase the robot's ability to maintain a consistent movement path in rugged environments. Operating with a leg lift height of 0.02 m, the robot achieves a speed of 0.09 m per second. In simulated damaged conditions, the robot demonstrates the capacity to disconnect and reconnect its limbs swiftly, restoring movement capabilities within a single second. During environmental perception tasks, the robot processes and analyzes environmental data in real time at a rate of approximately 15 frames per second, with an 80% confidence level. With an F1 score exceeding 93% and an average precision rate surpassing 98%, the robot showcases its reliability and efficiency. [ABSTRACT FROM AUTHOR]

In recent years, image perception such as enhancement, classification and object detection with deep learning has achieved significant successes. However, in real world under extreme conditions, the training of a deep learning model often yields low accuracy, low efficiency in feature extraction and generalizability, due to the inner uncourteous and uninterpretable characteristics. In this paper, a maximal-entropy-attention-based convolutional neural network (MEA-CNN) framework is proposed. A maximum entropy algorithm is first used for image feature pre-extraction. An attention mechanism is then proposed by combining the extracted features on original images. By applying the mechanism, the key areas of an image are enhanced, and noised area can be ignored. Afterward, the processed images are transferred into region convolutional neural network, which is a well-known pre-trained CNN model, for further feature learning and extraction. Finally, two real-world experiments on traffic sign recognition and road surface condition monitoring are designed. The results show that the proposed framework has high testing accuracy, with improvements of 17% and 2.9%, compared with some other existing methods. In addition, the features extracted by the model are more easily interpretable. [ABSTRACT FROM AUTHOR]

To guarantee the safe operation of machinery and reduce its maintenance costs, estimating its remaining useful life (RUL) is a crucial task. Hence, in this study, a multi-scale memory-enhanced prediction method is proposed to describe fully characteristics of the data. This method is based on a deep learning algorithm and is designed to estimate the RUL of aircraft engines. To handle the complex and multi-fault operating conditions with uncertain properties in RUL estimation, a hybrid model that combines a multi-scale deep convolutional neural network and long short-term memory is presented. Experimental verification was carried out with the Commercial Modular Aero-Propulsion System Simulation dataset from NASA. Compared with multi-scale deep convolutional and long short-term memory networks, the hybrid model performed more efficiently. Furthermore, compared with other state-of-the-art methods, the multi-scale memory-enhanced prediction method can achieve better prognostics, especially for equipment with multiple operating conditions and failure modes. [ABSTRACT FROM AUTHOR]